{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "角速度值"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pylab as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp, roll_speed, pitch_speed, yaw_speed) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_attitude_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0, 1, 2, 3),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "ref_time=(time_stamp-time_stamp[28941])/1000000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "a=28941\n",
    "b=38891"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"roll_speed\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"roll seed (rad/s)\")\n",
    "figure1 = ax.plot(ref_time[a:b], roll_speed[a:b],label='roll_speed', c='red', lw=0.2)\n",
    "\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_roll_speed.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"pitch_speed\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"pitch speed (rad/s)\")\n",
    "figure1 = ax.plot(ref_time[a:b], pitch_speed[a:b],label='pitch_speed', c='red', lw=0.2)\n",
    "\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_pitch_speed.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"yaw_speed\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"yaw speed (rad/s)\")\n",
    "figure1 = ax.plot(ref_time[a:b], yaw_speed[a:b],label='yaw_speed', c='red', lw=0.2)\n",
    "\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_yaw_speed.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "c=42537\n",
    "d=49557"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"roll_speed\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"roll seed (rad/s)\")\n",
    "figure1 = ax.plot(ref_time[c:d], roll_speed[c:d],label='roll_speed', c='red', lw=0.2)\n",
    "\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_roll_speed.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"pitch_speed\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"pitch seed (rad/s)\")\n",
    "figure1 = ax.plot(ref_time[c:d], pitch_speed[c:d],label='pitch_speed', c='red', lw=0.2)\n",
    "\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_pitch_speed.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"yaw_speed\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"yaw seed (rad/s)\")\n",
    "figure1 = ax.plot(ref_time[c:d], yaw_speed[c:d],label='yaw_speed', c='red', lw=0.2)\n",
    "\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_yaw_speed.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
